Reinstalled Kubuntu 9.10. Problem hasn't reappeared yet, even after
using USB stick on a windows machine before.

Just in case it's useful, here's a diff of fstab+mtab before and after 
reinstallation:
=======================
[~/kernel_hangs/diff]$  diff fstab_before fstab_after                           
                                                                                
                                                              
3,5c3,5
< # Use 'vol_id --uuid' to print the universally unique identifier for a
< # device; this may be used with UUID= as a more robust way to name devices
< # that works even if disks are added and removed. See fstab(5).
---
> # Use 'blkid -o value -s UUID' to print the universally unique identifier
> # for a device; this may be used with UUID= as a more robust way to name
> # devices that works even if disks are added and removed. See fstab(5).
10c10
< UUID=c33b4bf0-bf60-455e-bb7c-2c3c499582d3 /               ext4    
relatime,errors=remount-ro 0       1
---
> UUID=0a03bba2-be0c-4f77-a393-dd39ff775ea9 /               ext4    
> errors=remount-ro 0       1
12c12
< UUID=75eb4ad5-320f-4c6a-ae11-d0237997d55a /home           ext4    relatime    
    0       2
---
> UUID=75eb4ad5-320f-4c6a-ae11-d0237997d55a /home           ext4    defaults    
>     0       2
[~/kernel_hangs/diff]$  diff mtab_before mtab_after_nousb
1c1
< /dev/sda2 / ext4 rw,relatime,errors=remount-ro 0 0
---
> /dev/sda2 / ext4 rw,errors=remount-ro 0 0
13c13,14
< /dev/sda5 /home ext4 rw,relatime 0 0
---
> none /var/lib/ureadahead/debugfs debugfs rw 0 0
> /dev/sda5 /home ext4 rw 0 0
=======================

mtab after plugging in the USB stick:
=======================
[~/kernel_hangs/diff]$  diff mtab_after_nousb mtab_after_usb
15a16
> /dev/sdb1 /media/disk vfat 
> rw,nosuid,nodev,uhelper=hal,uid=1000,utf8,shortname=mixed,flush 0 0
=======================

-- 
kernel lockup when plugging in USB stick
https://bugs.launchpad.net/bugs/514485
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